# US 2022/0264784 A1 · Automatic Travel System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0264784 A1 - Document ID: US20220264784A1 - Status: Published application - Kind: A1 - Application number: 17/625,804 - Filed: 2020-07-09 - Published: 2022-08-25 - Earliest claimed: 2019-07-10 - Assignees: Yanmar Power Technology Co., Ltd. - Applicants: Yanmar Power Technology Co., Ltd. - Inventors: Takuyua Iwase; Shiro Sugita; Shigemi Hidaka - Web page: https://patentgrep.com/patent/US20220264784A1 ## CPC - A01B 69/008: {automatic} - G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract The present invention is provided with a path generation unit that generates an operation path for each of a plurality of operation regions, and an automatic travel control unit that causes an operation vehicle to travel automatically along the operation path generated by the path generation unit. The path generation unit is configured to be able to generate a movement path that connects different operation regions by causing the operation vehicle to travel outside the operation regions. The automatic travel control unit is configured to temporarily stop the operation vehicle before switching the traveling path on which the operation vehicle travels automatically from a path inside the operation regions to a path outside the operation regions, and in response to the temporary stop state being terminated, cause the operation vehicle to travel automatically by switching the traveling path to a path outside the operation regions. ## Claims ### Claim at position 1 1: An automatic travel system comprising: a path generation unit that generates an operation path for each of a plurality of operation regions; and an automatic travel control unit that causes an operation vehicle to automatically travel along each of the operation paths generated by the path generation unit, wherein the path generation unit is capable of generating a movement path that connects the operation regions by causing the operation vehicle to travel outside the operation regions, and the automatic travel control unit temporarily stops the operation vehicle before switching a traveling path where the operation vehicle is to be caused to automatically travel from a path inside the operation regions to a path outside the operation regions, and causes the operation vehicle to automatically travel by switching the traveling path to the path outside the operation regions when the temporal stop state is cancelled. ### Claim at position 2 (depends on 1) 2: The automatic travel system according to claim 1, wherein the automatic travel control unit temporarily stops the operation vehicle before switching the traveling path where the operation vehicle is to be caused to automatically travel from the path outside the operation regions to the path inside the operation regions, and causes the operation vehicle to automatically travel by switching the traveling path to the path inside the operation regions when the temporal stop state is cancelled. ### Claim at position 3 (depends on 1) 3: The automatic travel system according to claim 1, wherein the path generation unit generates the movement path on the basis of an exit direction from inside the operation regions to outside the operation regions, and an entry direction from outside the operation regions to inside the operation regions, and the exit direction and the entry direction are changeable on the basis of predetermined operation by an operation tool. ### Claim at position 4 (depends on 1) 4: The automatic travel system according to claim 1, wherein the operation vehicle includes an entrance/exit status detection unit that detects a status of an entrance/exit in the operation regions, the operation vehicle includes an exit direction and entry direction correction unit that is capable of correcting an exit direction from inside the operation regions to outside the operation regions, and an entry direction from outside the operation regions to inside the operation regions, on the basis of detection information of the entrance/exit status detection unit, and when the exit direction and entry direction correction unit corrects the exit direction or the entry direction, the path generation unit is capable of correcting the movement path on the basis of corrected exit direction and entry direction. ### Claim at position 5 (depends on 1) 5: The automatic travel system according to claim 1, wherein the operation vehicle includes a surrounding monitoring device that monitors a status of a surrounding thereof, and when the operation vehicle automatically travels along the path outside the operation regions, the surrounding monitoring device raises a monitoring level compared to a case where the operation vehicle automatically travels along the path inside the operation regions.